Rc servo updates (#794)

* Initial release with custom machine

* initial release

* Wrong addition corrected. AmoutOfToolChanges counts up now.

* pressing Z probe button once is fine, not a second time. reporting not in sequence to function flow

* First working FreeRTOS task with static text. Send "471" every second to all outputs

* Z Probe triggered correctly at button pressed. Can read out all values

* gitignore

* running with state machine, repeatable results in test environment

* works, except that function "user_tool_change" starts the tool change and it will interfer with further g code running in parallel. tbd

* typo

* back to without RTOS.But doesnt move

* RTOS but only with "T1 m06". not with g code program

* hold is better than door

* initial wifi settings

* umlaute

* gitignore

* Fehler bei Limit_Mask

* Spindle_Type angepasst

* lower debounding after adding capacitor

* Revert "lower debounding after adding capacitor"

This reverts commit eadbec2359.

* remove customized gitignore

* Revert "remove customized gitignore"

This reverts commit ce44131c7a.

* reduce debounding period due to adding capacitor

* uncomment all tool change source code

* Tets Fräse 2.6 ok

* Fräse 2.6

* Falscher GPIO Pin für Fräse

* test

* Revert "test"

This reverts commit 1265435786.

* No Bluetooth necessary

* OTA update (watch Windows firewall!)

* - rename custom machine file name
-added "4axis_xyza.txt" to store Grbl_ESP32 config parameters.
So programming fits to parameters
- added 2 buttons (#1 hold/resume), #2 homing and tool change position

* new Z probe button

* Z probe corretion

* Z probe correction

* Z probe correction

* Fixed Grbl.h

- I think I deleted the GRBL_VERSION line by accident when using the web based conflict editor

* Revert "Merge branch 'Devt' of https://github.com/bdring/Grbl_Esp32 into Devt"

This reverts commit 361558b6b7, reversing
changes made to 811646f5e7.

* Revert "Merge remote-tracking branch 'Grbl_Esp32_JH/master' into Devt"

This reverts commit 811646f5e7, reversing
changes made to a61ab51c0b.

* RcServo Updates

- Improved disable. It was not always initially set correctly.
- Improved calibration. Now a calibration value greater than 1 moves the motor in a positive direction and a value less than 1 moves it in a negative direction regardless of min/max and direction inverts.

* Update Grbl.h

Update grbl.h

Co-authored-by: Jens Hauser <44340656+JensHauser@users.noreply.github.com>
Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: JensHauser <jens@hauser-digital.de>

Grbl_Esp32/src/Grbl.h

@@ -22,7 +22,7 @@
 
 // Grbl versioning system
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20210305";
+const char* const GRBL_VERSION_BUILD = "20210306";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/src/Motors/RcServo.cpp

@@ -50,7 +50,7 @@ namespace Motors {
         ledcSetup(_channel_num, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
         ledcAttachPin(_pwm_pin, _channel_num);
         _current_pwm_duty = 0;
-
+        _disabled         = true;
         config_message();
         startUpdateTask();
     }
@@ -78,10 +78,6 @@ namespace Motors {
 
     // sets the PWM to zero. This allows most servos to be manually moved
     void RcServo::set_disable(bool disable) {
-        if (_disabled == disable) {
-            return;
-        }
-
         _disabled = disable;
         if (_disabled) {
             _write_pwm(0);
@@ -107,11 +103,6 @@ namespace Motors {
         if (_disabled)
             return;
 
-        if (sys.state == State::Alarm) {
-            set_disable(true);
-            return;
-        }
-
         read_settings();
 
         mpos = system_convert_axis_steps_to_mpos(sys_position, _axis_index);  // get the axis machine position in mm
@@ -127,10 +118,14 @@ namespace Motors {
     }
 
     void RcServo::read_settings() {
-        _pwm_pulse_min = SERVO_MIN_PULSE * rc_servo_cal_min->get();
-        _pwm_pulse_max = SERVO_MAX_PULSE * rc_servo_cal_max->get();
+        if (bitnum_istrue(dir_invert_mask->get(), _axis_index)) {
+            // swap the pwm values
+            _pwm_pulse_min = SERVO_MAX_PULSE * (1.0 + (1.0 - rc_servo_cal_min->get()));
+            _pwm_pulse_max = SERVO_MIN_PULSE * (1.0 + (1.0 - rc_servo_cal_max->get()));
 
-        if (bitnum_istrue(dir_invert_mask->get(), _axis_index))  // normal direction
-            swap(_pwm_pulse_min, _pwm_pulse_max);
+        } else {
+            _pwm_pulse_min = SERVO_MIN_PULSE * rc_servo_cal_min->get();
+            _pwm_pulse_max = SERVO_MAX_PULSE * rc_servo_cal_max->get();
+        }
     }
 }